航天器机械臂柔性力控辅助装配方法

文章从装配的实际需求出发,提出一种航天器机械臂柔性力控辅助装配方法：通过在机械臂末端法兰与负载之间安装的六维力传感器感知作用力与力矩信息,人手直接作用于机械臂末端的负载,系统通过负载的重力补偿算法获得人手作用的力与力矩信息,而后以力/力矩信息作为输入来控制机械臂进行移动或转动,使负载柔性跟随人手运动。文章给出了装配方法的详细设计方案与相关算法,并进行了初步试验验证。试验表明,该装配方法可以有效提高在航天器狭小空间内进行大重量工件安装的效率,且安全可靠。

Flexible force control on robot arm for spacecraft assembly

Based on the requirements of the spacecraft assembly, this paper proposes a flexible force control method on the robot arm: a 6-axis force/torque sensor is mounted between the tool and the end of the robot arm, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator's hands through a gravity compensation algorithm, then the force/torque information is used as input parameters to control the robot arm movement with the hands. The detailed scheme and algorithms are presented in this paper, and preliminary experiments were carried out to test the method. The experiments show that with the new method, the installation of a heavy equipment in a small room for the spacecraft would take much less time.